JPS61117092A - Robot joint device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention [FFL Field of the Invention] The present invention relates to a robot joint drive device ζ2, and more particularly, the first axis is a fixed pace I, which is a first axis, and which performs a turning motion with respect to a fixed pace I, and a second axis, which is a bending motion. Regarding joints.

[Prior art and its problems]

Conventionally, the first joint of a robot consists of a turning movement and a bending movement, and the turning movement is performed by an actuator attached to a fixed base, and the bending movement is performed by an actuator fixed to the turning base C. There are many things to do. But for this method.

Medium: The fixed base becomes larger because it is equipped with an actuator and a power transmission mechanism for swinging motion.

Since it is an Ill A motion/I actuator, control is easy, but on the other hand, the actuator cannot be used efficiently and the drive mechanism becomes large in terms of strength.

(till) Since the arrangement and configuration of the actuator and drive system are different, there are few common parts.

There are drawbacks such as.

[Purpose of the invention]

The purpose of the present invention is to improve the above-mentioned drawbacks, and to provide a first joint 5fLriL of a robot that is compact, allows efficient use of actuators, has many common parts, and is excellent in mass production. The purpose is to

[Summary of the invention]

The present invention includes a fixed base 1: a fixed first bevel gear;
The second cap is rotatably supported on the bending joint shaft and engages with the first cap. The third bevel gear and the second and third bevel gears can be independently driven. a second actuator and an MA force transmission device; a pivot bracket that rotatably supports the joint shaft around the axis of the first bevel gear; the first and second actuators and a first arm; and a first arm bracket that supports the joint and is rotatable around the joint axis, and the first joint is entirely configured by
．． This is achieved by controlling the direction of rotation of the second actuator to perform the turning motion and the bending motion.

〔Effect of the invention〕

According to the present invention, the first joint can be turned and bent in a compact manner, and the actuator can be used efficiently.Also, the components for achieving the two movements have exactly the same structure. Mass production (-) can provide superior WJ equipment.

[Embodiments of the invention]

An embodiment of the invention is shown in FIG. The first bevel gear l is fixed to the fixed base 2, *2. Third bevel gear 3
．． 4 is a first bevel gear IC which is meshed with the first bevel gear IC, and is rotatably supported by one bending joint shaft 5C and two rotations. Bending joint axis 5
The rotation eye PEt: There is a rotation. The bending joint shaft is supported by a pivot shaft bracket 7 which is rotatable around the shaft center 6 of the first bevel gear l, and the IJl arm 8 is supported by the pivot shaft bracket 7 which has a two-branched structure. The first gear, which is supported, is fixed to the second gear and the second gear, which drives the third gears 3 and 4. The tuators 11, 12 are fixed to the first arm bracket 10I, for example, as shown in the figure: two output shafts (fixed spur gears 13, 14 and 42, a spur gear fixed to the third bevel gear 34). Gear 15,
16 to drive the second and third bevel gears 3 and 4.

In such a configuration, for example, the second. When the third bevel gears 3 and 4 are rotated in the opposite direction (one rotation, the second and third bevel gears 3 and 4 roll around the first bevel gear l, so the second and third bevel gears 3 and 4 roll around the first bevel gear l, so
The bending joint axis that supports the bevel gears 3 and 4 of 3 is '! Since it rotates around the axis of the bevel gear 1, a turning motion is obtained. However, in order to rotate the second and third bevel gears 3.4Z in the same direction, the first gear. Second actuator 11
, 12 w driving, the second . The third bevel gears 3 and 4 cannot rotate in the same direction, so the spur gears 13 and 14 fixed to the outputs of the first and second actuators 11 and 12 are the same as the second. Third bevel gear 3.4
1: Since it rolls around fixed spur gears 15 and 16,
Actuator! The fixed first arm bracket 1υ rotates around the axis of the bending joint J, and a bending motion of the first joint is obtained.

As shown above, according to the present invention, the fixed base and the rotating shaft can be made compact, and two operations can be achieved with symmetrical parts or common parts, making it easier to mass-produce. A robot joint t' can be provided.

Furthermore, since the two actuators operate for either turning motion or bending motion, there is an advantage that the intrusion tuator can be used efficiently and at the same time, the rigidity margin of the drive system can be greatly reduced.

[Other embodiments of the invention]

Figure $2 shows another embodiment of the present invention.

Simplify the drive system and connect the actuator to the bevel gears 20, 2) directly*2) G3's bevel gears 3, 4y]
/gA movement, and since the n bevel gears 3 and 4 can be used efficiently in this way, the number of parts is reduced and at the same time it becomes more compact.

[Brief explanation of drawings]

FIGS. 1 and 2 are cross-sectional views of a robot fixed base, a rotation axis, and a bending joint showing an embodiment of the present invention. l...Fixed bevel gear 3, 4...Drive bevel gear 7...Swivel shaft bracket 10...First arm bracket 11, 12...Actuator representative patent attorney Norichika Kensuke (one idiot) ) Figure 2

Claims (2)

[Claims] (1) a first bevel gear fixed to a fixed base; second and third bevel gears rotatably supported on a bending joint shaft and meshing with the first bevel gear; A first and a second bevel gear each capable of independently driving a bevel gear.
an actuator and a driving force transmission means; a pivot bracket that rotatably supports the joint shaft around the axis of the first bevel gear; and a pivot bracket that supports the first and second actuators and a first arm. A robot comprising a first arm bracket that is rotatable around the joint axis, and performs turning and bending operations relative to the fixed base by controlling the rotation directions of the first and second actuators. Articulation device. (2) The robot joint device according to claim 1, wherein the second and third bevel gears are directly driven by small bevel gears fixed to the output shafts of the first and second actuators.